CN108557069A - A kind of unmanned plane gone on patrol in factory - Google Patents
A kind of unmanned plane gone on patrol in factory Download PDFInfo
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- CN108557069A CN108557069A CN201810259458.7A CN201810259458A CN108557069A CN 108557069 A CN108557069 A CN 108557069A CN 201810259458 A CN201810259458 A CN 201810259458A CN 108557069 A CN108557069 A CN 108557069A
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- blade propeller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
- G05D1/0825—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using mathematical models
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
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- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
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- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Automation & Control Theory (AREA)
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- Combustion & Propulsion (AREA)
- Pure & Applied Mathematics (AREA)
- Mathematical Physics (AREA)
- Mathematical Optimization (AREA)
- Mathematical Analysis (AREA)
- Algebra (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
The present invention relates to the unmanned planes gone on patrol in a kind of factory, it includes top cross, the top link being connect with top cross outer end, it is distributed in the side stand of top link surrounding, supporting leg in side stand lower end is set, setting is in top link, the control motor being upside down at the cross center of top, the shaft coupling that the upper end is sequentially connected with control motor lower end, the upper positive rotating-blade propeller that its center set upper side is sequentially connected with shaft coupling lower end, the upside annular ring being connect below the cross of top and with side stand middle part, the downside annular ring being connect below the annular ring of upside and with side stand middle part, the circular orbit being arranged between upside annular ring and downside annular ring, the planetary gear mechanism that the upper end is sequentially connected with upper dextrorotation propeller center set lower end；It is reasonable design of the present invention, compact-sized and easy to use.
Description
Technical field
The present invention relates to the unmanned planes gone on patrol in a kind of factory.
Background technology
It has been proposed that a kind of aircraft including flying platform, user stands on the platform, and spiral shell is equipped with below platform
Paddle is revolved to generate lift to promote the platform from ground.The platform includes the peripheral handrail that user grasps, user
It adjusts its weight and is tilted to control, the direction of always control platform movement.The U.S. of this aircraft in Arthur's Robertson et al.
It is proposed in state's patent 2953321.Also at twentieth century four or five, the age proposed charles's Annemarie Zimmermann.
Although the flying platform imagined with this early stage basic theory it has been established that commercial practices and more easy to control
Version be also always not implemented.
Although CN200920050087.8, the propeller vertically taking off and landing flyer with fairing provide one kind nobody flies
Row device, but its balanced capacity is poor, flight is unstable.
Invention content
For the above, the technical problems to be solved by the invention are generally speaking to provide a kind of reasonable design, cost
It is cheap, durable, safe and reliable, easy to operate, time saving and energy saving, save fund, a kind of compact-sized and factory easy to use
The unmanned plane of interior patrol；The technical issues of solving in detail and acquirement advantageous effect in aftermentioned content and combine specific embodiment party
Content specifically describes in formula.
To solve the above problems, the technical solution used in the present invention is：
A kind of unmanned plane gone on patrol in factory, including top cross, connect with top cross outer end top link, be distributed in the company of top
Connect the side stand of frame surrounding, be arranged side stand lower end supporting leg, be arranged in top link, be upside down at the cross center of top
Motor, the shaft coupling that the upper end is sequentially connected with control motor lower end, its center set upper side and the transmission of shaft coupling lower end is controlled to connect
The upper positive rotating-blade propeller that connects, below the cross of top and with upside annular ring connect in the middle part of side stand, to be located at upside annular
Circle lower section and the downside annular ring being connect with side stand middle part, the circular rails being arranged between upside annular ring and downside annular ring
Road, the upper end and the planetary gear mechanism of upper dextrorotation propeller center set lower end drive connection, its root are arranged in planetary gear
On mechanism lateral wall and its end is located under horizontal lifting rudder, central shaft upper end and the planetary gear mechanism in circular orbit
Hold the lower section rotating-blade propeller being sequentially connected, below the annular ring of downside and connect with side stand lower part bottom cross, with
And the bottom bearings for being arranged at the cross center of bottom and being connect by bearing with the central shaft lower end of lower section rotating-blade propeller,
Further include the path planning and avoidance unit for being useful for controlling the steering of this unmanned plane, the path planning and the fixed setting of avoidance unit
In bottom cross, the path planning and avoidance unit include controller, photoelectric encoder and ultrasonic sensor, described
Controller is electrically connected with photoelectric encoder and ultrasonic sensor respectively, and the ultrasonic sensor is for detecting barrier
Simultaneously feedback signal to controller, the controller carries out path operation and obstacle operation for position：
The path operation includes the following steps,
S1, using spiral logic route, it is assumed that the fuselage length of this unmanned plane is a, the first length and width that need to be moved around outer ring point
Not Wei L, H, the width value that this unmanned plane is moved from outer ring to inner ring is set as a；
S2, region length and width value L, H measured for the first time is divided by with to inner ring mobile width value a respectively, quotient is length and width direction
Upper respective required patrol number has remainder then to illustrate also have rectangle local of one piece of width less than a to need to go on patrol；
S3, using mathematical description, if f=It is respectively patrol number of this unmanned plane on length and width direction, defined functionIndicate whether the region for needing also exist for cleaning,
Then,
=0 indicates that patrol mission is completed, and=1 indicates also have region to need to go on patrol；
The obstacle operation includes the following steps,
A1, regard the plane of movement of this unmanned plane as two dimensional surface, the distance between barrier is expressed as l, setting this nobody
The distance turning value of opportunity to barrier is k, and f (l) is turning judgment value, and f (l) walks for 0 by present speed, is 1 avoidance
Turning, remaining then slows down, then has；
A2, avoidance turning after, original track need to be returned to and continued to move to, according to the relationship of arc length and angle, can be obtained,For the fixed range between two non-adjacent supporting legs, which is constant,Respectively
For the travel distance of two non-adjacent supporting legs, which is measured by photoelectric encoder, thenIt can be calculated.
When using the present invention, using supporting leg as floor-type support, side stand, top link, top cross, upside annular
Circle, downside annular ring, bottom crux are at cylindrical frame-type structural framing, to reduce resistance when flight, weight
Gently, output power is reduced, the control motor as main power source improves electric energy by power supply, by cross structure, keeps gas
Circulation is smooth, realizes flight vertical lift by upper positive rotating-blade propeller and lower section rotating-blade propeller, air-flow is adjusted by horizontal lifting rudder
Trend, to avoid upper positive rotating-blade propeller from interfering with air-flow of the lower section rotating-blade propeller in lifting, adjustment air-flow trend, to
So that the flight that aircraft is more stable, plays the role of support blade by circular orbit, improves the rigidity of blade, avoid hanging
The deformation that arm configuration generates, is played a supporting role by bottom bearings.
Planetary gear mechanism includes the input center Green Bell gear for being located at upper dextrorotation propeller center set lower end, outside it
Revolving planet frame that side wall is connect with horizontal lifting rudder root, the planet axis being radially distributed in revolving planet frame, suit are expert at
The planet Green Bell gear that is engaged on star axis and with input center Green's Bell's gear, be located at below revolving planet frame and with row
Output center Green's Bell's gear of star Green's Bell's gear engagement；Output center Green Bell's gear is located at lower section rotating-blade propeller
Central shaft upper end.
In order to adjust the proportioning of blade rotary speed and propeller rotary speed, design Green Bell system speed reducer structure,
Its noise is small, stable drive, and delivery efficiency is high, and the rotation of input center Green's Bell's gear drives planet Green's Bell's gear to turn
It is dynamic, to drive revolving planet frame to rotate, to realize that blade constant speed rotates, and meanwhile it is defeated by the drive of planet Green's Bell's gear
Go out center Green's Bell's gear rotation, to realize the rotation of lower section rotating-blade propeller, to realize that a motor rotates output more
Function simplifies structure, reduces the quantity of assembling parts, improves output power.
It is evenly equipped with fixing bracket on the annular ring lateral wall of downside, oscillating motor is provided on fixing bracket, swings electricity
The output shaft of machine connects cranked one end, the connecting rod being vertically arranged is connected in the other end of crank, in connecting rod lower end
It is connected with horizontally disposed connecting shaft；
The rotary shaft being radially distributed between bottom bearings lateral wall and side stand below the cross of bottom is rotating
Suit is there are two support plate disposed in parallel on axis, is arranged in parallel that there are three vertical deflecting rudders between two support plates；
Two support plates deflecting rudder vertical with this three forms day font structure, connecting shaft and one of support plate one side
Connection.
The present invention by the vertical deflecting rudder of low power oscillating motor-crank-connecting rod-connecting shaft-support plate-three around
Rotary shaft is swung, to realize the control to air-flow, by controlling the vertical deflecting rudder amplitude of fluctuation in each position, before realizing
The functions such as row, retrogressing, indexing install the propeller scheme that moves ahead compared to existing needs so that and Flight Vehicle Structure greatly simplifies,
The reversed of 360 ° of any directions may be implemented simultaneously, there is no turn around to execute step so that structure greatly optimizes, and especially exists
Forward and reverse flight in long and narrow aerial channels.
Beneficial effects of the present invention description without being limited thereto, in order to preferably be easy to understand, specific embodiment part into
More preferably detailed description is gone.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention.
Fig. 2 is the structural schematic diagram of part of the invention.
Fig. 3 is the structural schematic diagram at one visual angle of part of the invention.
Fig. 4 is the spiral logic route that unmanned plane moves in the present invention.
Wherein：1, supporting leg；2, side stand；3, link is pushed up；4, cross is pushed up；5, motor is controlled；6, shaft coupling；7, it is upper just
Rotating-blade propeller；8, upside annular ring；9, downside annular ring；10, circular orbit；11, horizontal lifting rudder；12, input center Green
Bell's gear；13, planet Green Bell gear；14, output center Green Bell gear；15, revolving planet frame；16, lower section is revolved
Propeller；17, bottom bearings；18, bottom cross；19, oscillating motor；20, crank；21, connecting rod；22, connecting shaft；
23, fixing bracket；24, rotary shaft；25, vertical deflecting rudder；26, support plate；27, path planning and avoidance unit.
Specific implementation mode
As shown in Figs. 1-3, the unmanned plane gone on patrol in a kind of factory of the present embodiment, including top cross 4 and top cross 4
Outer end connection top link 3, be distributed in push up 3 surrounding of link side stand 2, be arranged 2 lower end of side stand supporting leg 1, set
It sets and is sequentially connected in top link 3, the control motor 5 being upside down at 4 center of cross of top, the upper end and 5 lower end of control motor
Shaft coupling 6, its center set upper side and 6 lower end of shaft coupling be sequentially connected upper positive rotating-blade propeller 7, be located at 4 lower section of top cross
And the upside annular ring 8 being connect with 2 middle part of side stand, the downside being connect below upside annular ring 8 and with 2 middle part of side stand
Annular ring 9, the circular orbit 10 being arranged between upside annular ring 8 and downside annular ring 9, the upper end and upper positive rotating-blade propeller 7
The planetary gear mechanism of center lower end drive connection, its root is arranged on planetary gear mechanism lateral wall and its end is located at
Horizontal lifting rudder 11, central shaft upper end in circular orbit 10 revolve spiral shell with the lower section that planetary gear mechanism lower end is sequentially connected
Rotation paddle 16, positioned at the lower section of downside annular ring 9 and the bottom cross 18 connect with 2 lower part of side stand and setting are in bottom ten
The bottom bearings 17 being connect by bearing at 18 center of cabinet frame and with the central shaft lower end of lower section rotating-blade propeller 16.
When using the present invention, floor-type support, side stand 2, top link 3, top cross 4, upper side ring are used as using supporting leg 1
Shape circle 8, downside annular ring 9, bottom cross 18 form cylindrical frame-type structural framing, to reduce resistance when flight
Power, it is light-weight, output power is reduced, the control motor 5 as main power source improves electric energy by power supply, passes through cross knot
Structure keeps air-flow unobstructed, realizes flight vertical lift by upper positive rotating-blade propeller 7 and lower section rotating-blade propeller 16, is risen by level
It drops rudder 11 and adjusts air-flow trend, to avoid upper positive rotating-blade propeller 7 from interfering with air-flow of the lower section rotating-blade propeller 16 in lifting,
Air-flow trend is adjusted, so that the flight that aircraft is more stable, plays the role of support blade by circular orbit 10, carry
The rigidity of high blade, the deformation for avoiding cantilever design from generating, is played a supporting role by bottom bearings 17.
Planetary gear mechanism include positioned at 7 center lower end of upper positive rotating-blade propeller input center Green Bell gear 12,
Revolving planet frame 15 that its lateral wall is connect with 11 root of horizontal lifting rudder, the planet being radially distributed in revolving planet frame 15
Axis, is located at rotation at the planet Green Bell gear 13 for being sleeved in planet axis and being engaged with input center Green Bell gear 12
The output center Green Bell gear 14 planet carrier 15 lower section and engaged with planet Green Bell gear 13；Output center Green shellfish
Your gear 14 is located at the upper end of the central shaft of lower section rotating-blade propeller 16.
In order to adjust the proportioning of blade rotary speed and propeller rotary speed, design Green Bell system speed reducer structure,
Its noise is small, stable drive, and delivery efficiency is high, and the rotation of input center Green Bell gear 12 drives planet Green Bell gear 13
Rotation to realize that blade constant speed rotates, while passing through planet Green Bell gear 13 to drive revolving planet frame 15 to rotate
Output center Green Bell gear 14 is driven to rotate, to realize the rotation of lower section rotating-blade propeller 16, to realize a motor
More rotation output functions, simplify structure, reduce the quantity of assembling parts, improve output power.
It is evenly equipped with fixing bracket 23 on 9 lateral wall of downside annular ring, oscillating motor 19 is provided on fixing bracket 23,
The output shaft of oscillating motor 19 is connected with one end of crank 20, and the connecting rod being vertically arranged is connected in the other end of crank 20
21, it is connected with horizontally disposed connecting shaft 22 in 21 lower end of connecting rod；
The rotary shaft being radially distributed between 17 lateral wall of bottom bearings and side stand 2 below bottom cross 18
24, there are two support plates 26 disposed in parallel for suit in rotary shaft 24, and three are arranged in parallel between two support plates 26
A vertical deflecting rudder 25；
Two support plates 26 deflecting rudder 25 vertical with this three forms day font structure, connecting shaft 22 and one of support plate
26 one sides connect.
The present invention is hung down for tri- by low power oscillating motor 19- cranks 20- connecting rods 21- connecting shaft 22- support plates 26-
Straight deflecting rudder 25 is swung around rotary shaft 24, to realize the control to air-flow, is put by controlling the vertical deflecting rudder 25 in each position
Dynamic amplitude installs the propeller scheme that moves ahead so that flight to realize the functions such as forward, retrogressing, indexing compared to existing needs
Device structure greatly simplifies, while the reversed of 360 ° of any directions may be implemented, and there is no turn around to execute step so that structure pole
Big optimization, forward and reverse flight especially in long and narrow aerial channels.
The ball being provided on horizontal lifting rudder 11 in circular orbit 10.To play support and reduce friction
Effect.
Lower section rotating-blade propeller 16 is identical as the rotation direction of upper positive rotating-blade propeller 7 or rather, it is preferred to is reversed, so that flight
It is more steady, it is provided with electricity between the upper end of the central shaft of lower section rotating-blade propeller 16 and output center Green Bell gear 14
Magnet clutch.Electromagnetic clutch so as to realize lower section rotating-blade propeller 16 and output center Green Bell gear 14 clutch,
Realize the rotation or stopping of lower section rotating-blade propeller 16, when needing high-speed flight, needs are worked as in the rotation of lower section rotating-blade propeller 16
When stopping in the air or fly at low speed, lower section rotating-blade propeller 16 stops, and to save electric energy, reduces power consumption.
In addition, further include the path planning and avoidance unit 27 for being useful for controlling the steering of this unmanned plane, the path planning and
Avoidance unit 27 is fixedly installed on bottom cross 18, and the path planning and avoidance unit 27 include controller, photoelectric coding
Device and ultrasonic sensor, the controller are electrically connected with photoelectric encoder and ultrasonic sensor respectively, the ultrasound
Wave sensor is used to detect the position of barrier and feedback signal is to controller, and the controller carries out obstacle operation and path
Operation, the model STM32F103 microcontrollers of controller.
If unmanned plane randomness go on patrol, a large amount of blind area must be will produce, and will appear patrol not exclusively or
Person, which is repeated several times, goes on patrol certain region, and such unmanned plane is obviously not suitable for being gone on patrol.Therefore, unmanned plane is in patrol process
In coverage rate and repetitive rate have to consider, need to make corresponding path planning in the course of work to unmanned plane.
With reference to figure 4, whole patrol is carried out using spiral logic route, spiral logic route can effectively improve random motion
High-repetition-rate caused by route and low coverage rate, reach the patrol of region all standing so that patrol process is more credible.
This unmanned plane one-way traffic to turning is primary patrol process, then goes on patrol a circle and need four patrol processes, path
Operation includes the following steps：
S1, using spiral logic route, it is assumed that the fuselage length of this unmanned plane is a, the first length and width that need to be moved around outer ring point
Not Wei L, H, the width value that this unmanned plane is moved from outer ring to inner ring is set as a；
S2, region length and width value L, H measured for the first time is divided by with to inner ring mobile width value a respectively, quotient is length and width direction
Upper respective required patrol number has remainder then to illustrate also have rectangle local of one piece of width less than a to need to go on patrol；
S3, using mathematical description, if f=It is respectively patrol number of this unmanned plane on length and width direction, define letter
NumberIndicate whether the region for needing also exist for cleaning,
Then,
=0 indicates that patrol mission is completed, and=1 indicates also have region to need to go on patrol.
In addition, the track route of above-mentioned spiral logic route is that ideally, under actual conditions, this unmanned plane is whole
Must be also a standard for weighing unmanned plane facing to numerous barriers, the presence or absence of avoidance ability during a patrol.Assuming that
It is m that this unmanned plane one-way traffic needs mobile length successively, and value m is cumulative available by L, H, this nothing when detecting objects in front
The man-machine unidirectional length travelled is n1, which is measured by photoelectric encoder, and ultrasonic wave, which echoes, measures this unmanned plane from object
Distance is n2, if n1+n2<M, then illustrate that this unmanned plane encounters barrier, then then executes avoidance interruption, otherwise this unmanned plane
Then turning is executed by inside spin logic.
The external shape of barrier that unmanned plane encounters in operation process is always not quite similar, if to the barrier of each shape
Hinder object that a kind of obstacle avoidance algorithm is all set, then the entire design process of unmanned plane is by the tired design in algorithm, nor may
Cope with continually changing dynamic barrier in varying environment.In consideration of it, it is regular that controller unifies normalizing to all barriers
External rectangle normalizes the foundation of shape dependent on the ultrasonic sensor being mounted on this unmanned plane；Meanwhile in this unmanned plane
Fore-body, left and right position be both provided with photoelectric sensor, the stop position for confirming this unmanned plane.
The obstacle operation includes the following steps：
A1, regard the plane of movement of this unmanned plane as two dimensional surface, the distance between barrier is expressed as l, setting this nobody
The distance turning value of opportunity to barrier is k, and f (l) is turning judgment value, and f (l) walks for 0 by present speed, is 1 avoidance
Turning, remaining then slows down, then has；
A2, avoidance turning after, original track need to be returned to and continued to move to, according to the relationship of arc length and angle, can be obtained,For the fixed range between two non-adjacent supporting legs 1, which is constant,Respectively
For the travel distance of two non-adjacent supporting legs 1, which is measured by photoelectric encoder, thenIt can be calculated.
Reasonable design of the present invention, it is of low cost, durable, safe and reliable, easy to operate, time saving and energy saving, save fund,
It is compact-sized and easy to use.
It is to be disclosed in order to more clear, and just do not illustrating one by one for the prior art that the present invention, which fully describes,.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
To modify to the technical solution recorded in previous embodiment or equivalent replacement of some of the technical features；Make
It is obvious to be combined to multiple technical solutions of the present invention for those skilled in the art.And these are changed or replace
It changes, the spirit and scope for technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (5)
1. the unmanned plane gone on patrol in a kind of factory, it is characterised in that：It is connect including top cross (4), with top cross (4) outer end
Top link (3), be distributed in top link (3) surrounding side stand (2), setting side stand (2) lower end supporting leg (1), set
It sets in top link (3), the control motor (5) being upside down at cross (4) center of top, the upper end and control motor (5) lower end
Upper positive rotating-blade propeller (7) that the shaft coupling (6) of drive connection, its center set upper side are sequentially connected with shaft coupling (6) lower end is located at
Below top cross (4) and with the upside annular ring (8) connect in the middle part of side stand (2), be located at upside annular ring (8) lower section and with
The downside annular ring (9) connected in the middle part of side stand (2), the annular being arranged between upside annular ring (8) and downside annular ring (9)
Track (10), the upper end and the planetary gear mechanism of upper positive rotating-blade propeller (7) center lower end drive connection, the setting of its root exist
On planetary gear mechanism lateral wall and its end is positioned at the horizontal lifting rudder (11) in circular orbit (10), central shaft upper end
With the lower section rotating-blade propeller (16) of planetary gear mechanism lower end drive connection, positioned at downside annular ring (9) lower section and and side stand
(2) lower part connection bottom cross (18) and be arranged at bottom cross (18) center and with lower section rotating-blade propeller
(16) bottom bearings (17) that central shaft lower end is connected by bearing,
Further include the path planning and avoidance unit (27), the path planning and avoidance unit for being useful for controlling the steering of this unmanned plane
(27) it is fixedly installed on bottom cross（18）, the path planning and avoidance unit (27) include controller, photoelectric encoder
And ultrasonic sensor, the controller are electrically connected with photoelectric encoder and ultrasonic sensor respectively, the ultrasonic wave
Sensor is used to detect the position of barrier and feedback signal is to controller, and the controller carries out path operation and obstacle fortune
It calculates：
The path operation includes the following steps,
S1, using spiral logic route, it is assumed that the fuselage length of this unmanned plane is a, the first length and width that need to be moved around outer ring point
Not Wei L, H, the width value that this unmanned plane is moved from outer ring to inner ring is set as a；
S2, region length and width value L, H measured for the first time is divided by with to inner ring mobile width value a respectively, quotient is length and width direction
Upper respective required patrol number has remainder then to illustrate also have rectangle local of one piece of width less than a to need to go on patrol；
S3, using mathematical description, if f=It is respectively patrol number of this unmanned plane on length and width direction, defined functionIndicate whether the region for needing also exist for cleaning,
Then,
=0 indicates that patrol mission is completed, and=1 indicates also have region to need to go on patrol；
The obstacle operation includes the following steps,
A1, regard the plane of movement of this unmanned plane as two dimensional surface, the distance between barrier is expressed as l, setting this nobody
The distance turning value of opportunity to barrier is k, and f (l) is turning judgment value, and f (l) walks for 0 by present speed, is 1 avoidance
Turning, remaining then slows down, then has；
A2, avoidance turning after, original track need to be returned to and continued to move to, according to the relationship of arc length and angle, can be obtained,For two non-adjacent supporting legs（1）Between fixed range, the value be constant,Point
It Wei not two non-adjacent supporting legs（1）Travel distance, which is measured by photoelectric encoder, thenIt can be calculated.
2. the unmanned plane gone on patrol in a kind of factory according to claim 1, it is characterised in that:Planetary gear mechanism includes position
Input center Green Bell gear (12), its lateral wall and horizontal lifting rudder in upper positive rotating-blade propeller (7) center lower end
(11) root connection revolving planet frame (15), be radially distributed in revolving planet frame (15) planet axis, be sleeved on planet axis
It is upper and engage with input center Green Bell gear (12) planet Green Bell gear (13), under revolving planet frame (15)
Side and the output center Green Bell gear (14) engaged with planet Green Bell gear (13)；Output center Green's Bell's gear
(14) it is located at the upper end of the central shaft of lower section rotating-blade propeller (16).
3. the unmanned plane gone on patrol in a kind of factory according to claim 2, it is characterised in that:It is set on horizontal lifting rudder (11)
The ball being equipped in circular orbit (10).
4. the unmanned plane gone on patrol in a kind of factory according to claim 2, it is characterised in that:In downside on the outside of annular ring (9)
It is evenly equipped with fixing bracket (23) on wall, oscillating motor (19), the output of oscillating motor (19) are provided on fixing bracket (23)
Axis connection has one end of crank (20), the connecting rod (21) being vertically arranged is connected in the other end of crank (20), in connecting rod
(21) lower end is connected with horizontally disposed connecting shaft (22),
The rotation being radially distributed between bottom bearings (17) lateral wall and side stand (2) below bottom cross (18)
Shaft (24), there are two support plates disposed in parallel (26) for suit in rotary shaft (24), between two support plates (26)
Vertical deflecting rudder (25) there are three being arranged in parallel；
Two support plates (26) deflecting rudder (25) vertical with this three forms day font structure,
Connecting shaft (22) is connect with one of support plate (26) one side.
5. the unmanned plane gone on patrol in a kind of factory according to claim 2, it is characterised in that:Lower section rotating-blade propeller (16) with
The rotation direction of upper positive rotating-blade propeller (7) is identical or on the contrary, in the upper end of the central shaft of lower section rotating-blade propeller (16) and output center
It is provided with electromagnetic clutch between Green Bell gear (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810259458.7A CN108557069B (en) | 2018-03-27 | 2018-03-27 | Unmanned aerial vehicle that patrol in factory |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810259458.7A CN108557069B (en) | 2018-03-27 | 2018-03-27 | Unmanned aerial vehicle that patrol in factory |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108557069A true CN108557069A (en) | 2018-09-21 |
| CN108557069B CN108557069B (en) | 2020-04-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810259458.7A Expired - Fee Related CN108557069B (en) | 2018-03-27 | 2018-03-27 | Unmanned aerial vehicle that patrol in factory |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2883176Y (en) * | 2006-02-14 | 2007-03-28 | 王忠信 | Pilotless plane with circular wings and inclined rotary wings |
| CN204264451U (en) * | 2014-11-27 | 2015-04-15 | 哈尔滨盛世特种飞行器有限公司 | Electronic coaxial double-rotary wing unmanned vehicle |
| CN105966619A (en) * | 2016-05-03 | 2016-09-28 | 北京京东尚科信息技术有限公司 | Unmanned aerial vehicle |
| US9815552B1 (en) * | 2015-09-21 | 2017-11-14 | Amazon Technologies, Inc. | Unmanned aerial vehicle with center mounted fuselage and closed wing |
-
2018
- 2018-03-27 CN CN201810259458.7A patent/CN108557069B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2883176Y (en) * | 2006-02-14 | 2007-03-28 | 王忠信 | Pilotless plane with circular wings and inclined rotary wings |
| CN204264451U (en) * | 2014-11-27 | 2015-04-15 | 哈尔滨盛世特种飞行器有限公司 | Electronic coaxial double-rotary wing unmanned vehicle |
| US9815552B1 (en) * | 2015-09-21 | 2017-11-14 | Amazon Technologies, Inc. | Unmanned aerial vehicle with center mounted fuselage and closed wing |
| CN105966619A (en) * | 2016-05-03 | 2016-09-28 | 北京京东尚科信息技术有限公司 | Unmanned aerial vehicle |
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| CN108557069B (en) | 2020-04-14 |
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